OpenRaiser/Intern-Atlas huggingface dataset:
Efficient Geometric Linearization of Moving-Base Rigid Robot Dynamics
Venue: arXiv cs.RO 2022
Year: 2022

The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based planning, closed-loop control, gain tuning, and state estimation. Contrary to the case of fixed based manipulators with prismatic or rotary joints, the state space of moving-base robotic systems such as humanoids, quadruped robots, or aerial manipulators cannot be globally parametrized by a finite number of independent coordinates. This impossibility is a direct consequence of the fact that the state of these systems includes the system's global orientation, formally described as an element of the special orthogonal group SO(3). As a consequence, obtaining the linearization of the equations of motion for these systems is typically resolved, from a practical perspective, by locally parameterizing the system's attitude by means of, e.g., Euler or Cardan angles. This has the drawback, however, of introducing artificial parameterization singularities and extra derivative computations. In this contribution, we show that it is actually possible to define a notion of linearization that does not require the use of a local parameterization for the system's orientation, obtaining a mathematically elegant, recursive, and singularity-free linearization for moving-based robot systems. Recursiveness, in particular, is obtained by proposing a nontrivial modification of existing recursive algorithms to allow for computations of the geometric derivatives of the inverse dynamics and the inverse of the mass matrix of the robotic system. The correctness of the proposed algorithm is validated by means of a numerical comparison with the result obtained via geometric finite difference.
PetroGAN: A novel GAN-based approach to generate realistic, label-free petrographic datasets
Venue: arXiv cs.CV 2022
Year: 2022

Deep learning architectures have enriched data analytics in the geosciences, complementing traditional approaches to geological problems. Although deep learning applications in geosciences show encouraging signs, the actual potential remains untapped. This is primarily because geological datasets, particularly petrography, are limited, time-consuming, and expensive to obtain, requiring in-depth knowledge to provide a high-quality labeled dataset. We approached these issues by developing a novel deep learning framework based on generative adversarial networks (GANs) to create the first realistic synthetic petrographic dataset. The StyleGAN2 architecture is selected to allow robust replication of statistical and esthetical characteristics, and improving the internal variance of petrographic data. The training dataset consists of 10070 images of rock thin sections both in plane- and cross-polarized light. The algorithm trained for 264 GPU hours and reached a state-of-the-art Fréchet Inception Distance (FID) score of 12.49 for petrographic images. We further observed the FID values vary with lithology type and image resolution. Our survey established that subject matter experts found the generated images were indistinguishable from real images. This study highlights that GANs are a powerful method for generating realistic synthetic data, experimenting with the latent space, and as a future tool for self-labelling, reducing the effort of creating geological datasets.
Linking Scientific Instruments and HPC: Patterns, Technologies, Experiences
Venue: arXiv cs.DC 2022
Year: 2022

Powerful detectors at modern experimental facilities routinely collect data at multiple GB/s. Online analysis methods are needed to enable the collection of only interesting subsets of such massive data streams, such as by explicitly discarding some data elements or by directing instruments to relevant areas of experimental space. Such online analyses require methods for configuring and running high-performance distributed computing pipelines--what we call flows--linking instruments, HPC (e.g., for analysis, simulation, AI model training), edge computing (for analysis), data stores, metadata catalogs, and high-speed networks. In this article, we review common patterns associated with such flows and describe methods for instantiating those patterns. We also present experiences with the application of these methods to the processing of data from five different scientific instruments, each of which engages HPC resources for data inversion, machine learning model training, or other purposes. We also discuss implications of these new methods for operators and users of scientific facilities.
Learning Object-Centered Autotelic Behaviors with Graph Neural Networks
Venue: arXiv cs.AI 2022
Year: 2022

Although humans live in an open-ended world and endlessly face new challenges, they do not have to learn from scratch each time they face the next one. Rather, they have access to a handful of previously learned skills, which they rapidly adapt to new situations. In artificial intelligence, autotelic agents, which are intrinsically motivated to represent and set their own goals, exhibit promising skill adaptation capabilities. However, these capabilities are highly constrained by their policy and goal space representations. In this paper, we propose to investigate the impact of these representations on the learning and transfer capabilities of autotelic agents. We study different implementations of autotelic agents using four types of Graph Neural Networks policy representations and two types of goal spaces, either geometric or predicate-based. By testing agents on unseen goals, we show that combining object-centered architectures that are expressive enough with semantic relational goals helps learning to reach more difficult goals. We also release our graph-based implementations to encourage further research in this direction.
Building an ASR Error Robust Spoken Virtual Patient System in a Highly Class-Imbalanced Scenario Without Speech Data
Venue: arXiv cs.CL 2022
Year: 2022

A Virtual Patient (VP) is a powerful tool for training medical students to take patient histories, where responding to a diverse set of spoken questions is essential to simulate natural conversations with a student. The performance of such a Spoken Language Understanding system (SLU) can be adversely affected by both the presence of Automatic Speech Recognition (ASR) errors in the test data and a high degree of class imbalance in the SLU training data. While these two issues have been addressed separately in prior work, we develop a novel two-step training methodology that tackles both these issues effectively in a single dialog agent. As it is difficult to collect spoken data from users without a functioning SLU system, our method does not rely on spoken data for training, rather we use an ASR error predictor to "speechify" the text data. Our method shows significant improvements over strong baselines on the VP intent classification task at various word error rate settings.
Worldwide city transport typology prediction with sentence-BERT based supervised learning via Wikipedia
Venue: arXiv cs.CL 2022
Year: 2022

An overwhelming majority of the world's human population lives in urban areas and cities. Understanding a city's transportation typology is immensely valuable for planners and policy makers whose decisions can potentially impact millions of city residents. Despite the value of understanding a city's typology, labeled data (city and it's typology) is scarce, and spans at most a few hundred cities in the current transportation literature. To break this barrier, we propose a supervised machine learning approach to predict a city's typology given the information in its Wikipedia page. Our method leverages recent breakthroughs in natural language processing, namely sentence-BERT, and shows how the text-based information from Wikipedia can be effectively used as a data source for city typology prediction tasks that can be applied to over 2000 cities worldwide. We propose a novel method for low-dimensional city representation using a city's Wikipedia page, which makes supervised learning of city typology labels tractable even with a few hundred labeled samples. These features are used with labeled city samples to train binary classifiers (logistic regression) for four different city typologies: (i) congestion, (ii) auto-heavy, (iii) transit-heavy, and (iv) bike-friendly cities resulting in reasonably high AUC scores of 0.87, 0.86, 0.61 and 0.94 respectively. Our approach provides sufficient flexibility for incorporating additional variables in the city typology models and can be applied to study other city typologies as well. Our findings can assist a diverse group of stakeholders in transportation and urban planning fields, and opens up new opportunities for using text-based information from Wikipedia (or similar platforms) as data sources in such fields.
Human vs Objective Evaluation of Colourisation Performance
Venue: arXiv cs.CV 2022
Year: 2022

Automatic colourisation of grey-scale images is the process of creating a full-colour image from the grey-scale prior. It is an ill-posed problem, as there are many plausible colourisations for a given grey-scale prior. The current SOTA in auto-colourisation involves image-to-image type Deep Convolutional Neural Networks with Generative Adversarial Networks showing the greatest promise. The end goal of colourisation is to produce full colour images that appear plausible to the human viewer, but human assessment is costly and time consuming. This work assesses how well commonly used objective measures correlate with human opinion. We also attempt to determine what facets of colourisation have the most significant effect on human opinion. For each of 20 images from the BSD dataset, we create 65 recolourisations made up of local and global changes. Opinion scores are then crowd sourced using the Amazon Mechanical Turk and together with the images this forms an extensible dataset called the Human Evaluated Colourisation Dataset (HECD). While we find statistically significant correlations between human-opinion scores and a small number of objective measures, the strength of the correlations is low. There is also evidence that human observers are most intolerant to an incorrect hue of naturally occurring objects.
Access to care: analysis of the geographical distribution of healthcare using Linked Open Data
Venue: arXiv cs.AI 2022
Year: 2022

Background: Access to medical care is strongly dependent on resource allocation, such as the geographical distribution of medical facilities. Nevertheless, this data is usually restricted to country official documentation, not available to the public. While some medical facilities' data is accessible as semantic resources on the Web, it is not consistent in its modeling and has yet to be integrated into a complete, open, and specialized repository. This work focuses on generating a comprehensive semantic dataset of medical facilities worldwide containing extensive information about such facilities' geo-location. Results: For this purpose, we collect, align, and link various open-source databases where medical facilities' information may be present. This work allows us to evaluate each data source along various dimensions, such as completeness, correctness, and interlinking with other sources, all critical aspects of current knowledge representation technologies. Conclusions: Our contributions directly benefit stakeholders in the biomedical and health domain (patients, healthcare professionals, companies, regulatory authorities, and researchers), who will now have a better overview of the access to and distribution of medical facilities.
Entities, Dates, and Languages: Zero-Shot on Historical Texts with T0
Venue: arXiv cs.CL 2022
Year: 2022

In this work, we explore whether the recently demonstrated zero-shot abilities of the T0 model extend to Named Entity Recognition for out-of-distribution languages and time periods. Using a historical newspaper corpus in 3 languages as test-bed, we use prompts to extract possible named entities. Our results show that a naive approach for prompt-based zero-shot multilingual Named Entity Recognition is error-prone, but highlights the potential of such an approach for historical languages lacking labeled datasets. Moreover, we also find that T0-like models can be probed to predict the publication date and language of a document, which could be very relevant for the study of historical texts.
Approximate Top-$m$ Arm Identification with Heterogeneous Reward Variances
Venue: arXiv cs.LG 2022
Year: 2022

We study the effect of reward variance heterogeneity in the approximate top-$m$ arm identification setting. In this setting, the reward for the $i$-th arm follows a $σ^2_i$-sub-Gaussian distribution, and the agent needs to incorporate this knowledge to minimize the expected number of arm pulls to identify $m$ arms with the largest means within error $ε$ out of the $n$ arms, with probability at least $1-δ$. We show that the worst-case sample complexity of this problem is $$Θ\left( \sum_{i =1}^n \frac{σ_i^2}{ε^2} \ln\frac{1}δ + \sum_{i \in G^{m}} \frac{σ_i^2}{ε^2} \ln(m) + \sum_{j \in G^{l}} \frac{σ_j^2}{ε^2} \text{Ent}(σ^2_{G^{r}}) \right),$$ where $G^{m}, G^{l}, G^{r}$ are certain specific subsets of the overall arm set $\{1, 2, \ldots, n\}$, and $\text{Ent}(\cdot)$ is an entropy-like function which measures the heterogeneity of the variance proxies. The upper bound of the complexity is obtained using a divide-and-conquer style algorithm, while the matching lower bound relies on the study of a dual formulation.
The Importance of Future Information in Credit Card Fraud Detection
Venue: arXiv cs.LG 2022
Year: 2022

Fraud detection systems (FDS) mainly perform two tasks: (i) real-time detection while the payment is being processed and (ii) posterior detection to block the card retrospectively and avoid further frauds. Since human verification is often necessary and the payment processing time is limited, the second task manages the largest volume of transactions. In the literature, fraud detection challenges and algorithms performance are widely studied but the very formulation of the problem is never disrupted: it aims at predicting if a transaction is fraudulent based on its characteristics and the past transactions of the cardholder. Yet, in posterior detection, verification often takes days, so new payments on the card become available before a decision is taken. This is our motivation to propose a new paradigm: posterior fraud detection with "future" information. We start by providing evidence of the on-time availability of subsequent transactions, usable as extra context to improve detection. We then design a Bidirectional LSTM to make use of these transactions. On a real-world dataset with over 30 million transactions, it achieves higher performance than a regular LSTM, which is the state-of-the-art classifier for fraud detection that only uses the past context. We also introduce new metrics to show that the proposal catches more frauds, more compromised cards, and based on their earliest frauds. We believe that future works on this new paradigm will have a significant impact on the detection of compromised cards.
Towards Automatically Generating Release Notes using Extractive Summarization Technique
Venue: arXiv cs.SE 2022
Year: 2022

Release notes are admitted as an essential document by practitioners. They contain the summary of the source code changes for the software releases, such as issue fixes, added new features, and performance improvements. Manually producing release notes is a time-consuming and challenging task. For that reason, sometimes developers neglect to write release notes. For example, we collect data from GitHub with over 1,900 releases, among them 37% of the release notes are empty. We propose an automatic generate release notes approach based on the commit messages and merge pull-request (PR) titles to mitigate this problem. We implement one of the popular extractive text summarization techniques, i.e., the TextRank algorithm. However, accurate keyword extraction is a vital issue in text processing. The keyword matching and topic extraction process of the TextRank algorithm ignores the semantic similarity among texts. To improve the keyword extraction method, we integrate the GloVe word embedding technique with TextRank. We develop a dataset with 1,213 release notes (after null filtering) and evaluate the generated release notes through the ROUGE metric and human evaluation. We also compare the performance of our technique with another popular extractive algorithm, latent semantic analysis (LSA). Our evaluation results show that the improved TextRank method outperforms LSA.
PolyARBerNN: A Neural Network Guided Solver and Optimizer for Bounded Polynomial Inequalities
Venue: arXiv cs.LO 2022
Year: 2022

Constraints solvers play a significant role in the analysis, synthesis, and formal verification of complex embedded and cyber-physical systems. In this paper, we study the problem of designing a scalable constraints solver for an important class of constraints named polynomial constraint inequalities (also known as non-linear real arithmetic theory). In this paper, we introduce a solver named PolyARBerNN that uses convex polynomials as abstractions for highly nonlinear polynomials. Such abstractions were previously shown to be powerful to prune the search space and restrict the usage of sound and complete solvers to small search spaces. Compared with the previous efforts on using convex abstractions, PolyARBerNN provides three main contributions namely (i) a neural network guided abstraction refinement procedure that helps selecting the right abstraction out of a set of pre-defined abstractions, (ii) a Bernstein polynomial-based search space pruning mechanism that can be used to compute tight estimates of the polynomial maximum and minimum values which can be used as an additional abstraction of the polynomials, and (iii) an optimizer that transforms polynomial objective functions into polynomial constraints (on the gradient of the objective function) whose solutions are guaranteed to be close to the global optima. These enhancements together allowed the PolyARBerNN solver to solve complex instances and scales more favorably compared to the state-of-art non-linear real arithmetic solvers while maintaining the soundness and completeness of the resulting solver. In particular, our test benches show that PolyARBerNN achieved 100X speedup compared with Z3 8.9, Yices 2.6, and NASALib (a solver that uses Bernstein expansion to solve multivariate polynomial constraints) on a variety of standard test benches.
Accurate Discharge Coefficient Prediction of Streamlined Weirs by Coupling Linear Regression and Deep Convolutional Gated Recurrent Unit
Venue: arXiv cs.LG 2022
Year: 2022

Streamlined weirs which are a nature-inspired type of weir have gained tremendous attention among hydraulic engineers, mainly owing to their established performance with high discharge coefficients. Computational fluid dynamics (CFD) is considered as a robust tool to predict the discharge coefficient. To bypass the computational cost of CFD-based assessment, the present study proposes data-driven modeling techniques, as an alternative to CFD simulation, to predict the discharge coefficient based on an experimental dataset. To this end, after splitting the dataset using a k fold cross validation technique, the performance assessment of classical and hybrid machine learning deep learning (ML DL) algorithms is undertaken. Among ML techniques linear regression (LR) random forest (RF) support vector machine (SVM) k-nearest neighbor (KNN) and decision tree (DT) algorithms are studied. In the context of DL, long short-term memory (LSTM) convolutional neural network (CNN) and gated recurrent unit (GRU) and their hybrid forms such as LSTM GRU, CNN LSTM and CNN GRU techniques, are compared using different error metrics. It is found that the proposed three layer hierarchical DL algorithm consisting of a convolutional layer coupled with two subsequent GRU levels, which is also hybridized with the LR method, leads to lower error metrics. This paper paves the way for data-driven modeling of streamlined weirs.
Deep Normed Embeddings for Patient Representation
Venue: arXiv cs.LG 2022
Year: 2022

We introduce a novel contrastive representation learning objective and a training scheme for clinical time series. Specifically, we project high dimensional EHR. data to a closed unit ball of low dimension, encoding geometric priors so that the origin represents an idealized perfect health state and the Euclidean norm is associated with the patient's mortality risk. Moreover, using septic patients as an example, we show how we could learn to associate the angle between two vectors with the different organ system failures, thereby, learning a compact representation which is indicative of both mortality risk and specific organ failure. We show how the learned embedding can be used for online patient monitoring, can supplement clinicians and improve performance of downstream machine learning tasks. This work was partially motivated from the desire and the need to introduce a systematic way of defining intermediate rewards for Reinforcement Learning in critical care medicine. Hence, we also show how such a design in terms of the learned embedding can result in qualitatively different policies and value distributions, as compared with using only terminal rewards.
Redwood: Using Collision Detection to Grow a Large-Scale Intent Classification Dataset
Venue: arXiv cs.CL 2022
Year: 2022

Dialog systems must be capable of incorporating new skills via updates over time in order to reflect new use cases or deployment scenarios. Similarly, developers of such ML-driven systems need to be able to add new training data to an already-existing dataset to support these new skills. In intent classification systems, problems can arise if training data for a new skill's intent overlaps semantically with an already-existing intent. We call such cases collisions. This paper introduces the task of intent collision detection between multiple datasets for the purposes of growing a system's skillset. We introduce several methods for detecting collisions, and evaluate our methods on real datasets that exhibit collisions. To highlight the need for intent collision detection, we show that model performance suffers if new data is added in such a way that does not arbitrate colliding intents. Finally, we use collision detection to construct and benchmark a new dataset, Redwood, which is composed of 451 ntent categories from 13 original intent classification datasets, making it the largest publicly available intent classification benchmark.
Toward Granular Automatic Unit Test Case Generation
Venue: arXiv cs.SE 2022
Year: 2022

Unit testing verifies the presence of faults in individual software components. Previous research has been targeting the automatic generation of unit tests through the adoption of random or search-based algorithms. Despite their effectiveness, these approaches do not implement any strategy that allows them to create unit tests in a structured manner: indeed, they aim at creating tests by optimizing metrics like code coverage without ensuring that the resulting tests follow good design principles. In order to structure the automatic test case generation process, we propose a two-step systematic approach to the generation of unit tests: we first force search-based algorithms to create tests that cover individual methods of the production code, hence implementing the so-called intra-method tests; then, we relax the constraints to enable the creation of intra-class tests that target the interactions among production code methods.